VISION-BASED AUTONOMOUS LANDING FOR QUADCOPTER DRONE USING OPENMV
RIZQY ILMI NAUFAL

Informasi Umum

Kode

22.04.1648

Klasifikasi

006.37 - Computer Vision

Jenis

Karya Ilmiah - Skripsi (S1) - Reference

Subjek

Computer Vision

Dilihat

315 kali

Informasi Lainnya

Abstraksi

<p>Nowadays, the use of drones has a broader use case. Drones can be used for<br /> both military and non-military purposes, such as data exploration, scientific, commercial<br /> services, research, search and rescue, patrol, and entertainment. Due to the<br /> increasing of the needs of drones and it went with the cheaper price, so that the<br /> drones is produced and assembled with the bad build quality. Therefore the drone is<br /> become more vulnerable to crashes. One of the most common crashes for beginner<br /> users is the crash on landing.<br /> Based on those issues, this thesis proposes vision based precision landing<br /> method for the quadcopter drone equipped with a low-cost camera that is able to<br /> tract 39 x 39 cm of AprilTag and implement a camera-based precision landing<br /> system. The system utilizes the Pixhawk as flight controller, Mission Planner as<br /> the Ground Control Station (GCS) software, OpenMV H7 as the camera sensor,<br /> telemetry as a two-way data stream, and a computer as the control unit, which is<br /> more precise than GPS-based landings and more cost-effective than other alternative<br /> solutions. To ensure the camera-based precision landing system is robust and<br /> reliable, the vision-based precision landing method will be tested in three different<br /> environments, including outdoor, semi-outdoor, and indoor, where each test will be<br /> repeated ten times at an altitude of 2 and 3 meters.<br /> The results obtained that after testing, the system indicate that the drone with a<br /> camera-based precision landing system is capable of autonomously scanning, tracking,<br /> and landing on a landing target. The average accuracy for 2 meter altitude in<br /> the outdoors is 8.94 cm, semi-outdoor 9.1 cm, and indoor 11.7 cm. Meanwhile, the<br /> average accuracy for 3 meter altitude in the outdoors is 9.35 cm, semi-outdoor 9.45<br /> cm, and indoor 10.8 cm.</p>

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